This workspace hosts ROS controller packages that integrate with the ballbot_simulator workspace (not included) in Gazebo and on the physical platform.
To use the ROS packages, clone this repo and run catkin_make in the base directory.
The four packages in this workspace are outlined below.
This package implements controllers for all agents and the data recording utility. The following controllers can be used for agents in both real and simulation:
- PID
- ORCA
- CADRL
- MPC
See the ballbot_common README for additional information.
This package contains the ROS interface for the Gazebo simulator.
The agents consist of the ballbot (ego agent) and spheres (other agents).
All models are defined in the ballbot_simulator package (not included in this repository).
See the ballbot_sim README for additional information.
This package contains the ROS interface for the physical platform and agents (humans) tracked by MoCap.
See the ballbot_real README for additional information.
This package implements the topic_tools/relay node to be used with the ballbot_real package.